I enhanced my Shahed drone detector with multi-sensor Kalman fusion

I enhanced the tracking system of my Shahed-136 detector using Kalman filters. Initially, I used a constant-velocity model, which failed to track the target during maneuvers. Therefore, I transitioned to a constant-acceleration model and added a second sensor for multi-sensor fusion.

This new model provided more reliable tracking by combining data from sensors with different noise and rate characteristics. I developed a rewind-and-replay mechanism for handling delayed measurements. The results demonstrated significantly lower error rates when fusing the two sensors.